#ifndef OBSTACLEAVOIDANCEBEHAV_H
#define	OBSTACLEAVOIDANCEBEHAV_H

#include <geometry_msgs/Twist.h>
#include <sensor_msgs/LaserScan.h>

class ObstacleAvoidanceBehav {
public:
  ObstacleAvoidanceBehav();
  ObstacleAvoidanceBehav(float aMin,float aMax,int nBeam, float K);
  ObstacleAvoidanceBehav(const ObstacleAvoidanceBehav& orig);
  virtual ~ObstacleAvoidanceBehav();
  
  geometry_msgs::Twist run(sensor_msgs::LaserScan& scan);
  
private:
  float _angleMin;
  float _angleMax;
  int _nBeam;
  float _K;
  int aToRange(float a,sensor_msgs::LaserScan& scan);

};

#endif	/* OBSTACLEAVOIDANCEBEHAV_H */

